.. _motion-release-notes:

ALMotion Changes
=================

New methods
-----------

These methods correspond to newly developped features.

+-----------------------------------------------------------+-------------------------------------------------+
| Method                                                    | Aim                                             |
+===========================================================+=================================================+
| :cpp:func:`ALMotionProxy::getFootGaitConfig`              | Get the footsteps configuration (height,        |
|                                                           | frequency etc)                                  |
+-----------------------------------------------------------+-------------------------------------------------+
| :cpp:func:`ALMotionProxy::getFootSteps`                   | Get the list of footsteps to done               |
+-----------------------------------------------------------+-------------------------------------------------+
| | :cpp:func:`ALMotionProxy::setFootSteps`                 | Set the next foot steps                         |
| | :cpp:func:`ALMotionProxy::setFootStepsWithSpeed`        |                                                 |
+-----------------------------------------------------------+-------------------------------------------------+
| :cpp:func:`ALMotionProxy::stopWalk`                       | Stop the walk quickly but securely              |
+-----------------------------------------------------------+-------------------------------------------------+
| :cpp:func:`ALMotionProxy::walkInit`                       | Sets the robot in a convenient position for walk|
+-----------------------------------------------------------+-------------------------------------------------+
| | :cpp:func:`ALMotionProxy::getCollisionProtectionEnabled`| Manage the self collision avoidance relfex      |
| | :cpp:func:`ALMotionProxy::setCollisionProtectionEnabled`|                                                 |
+-----------------------------------------------------------+-------------------------------------------------+
| :cpp:func:`ALMotionProxy::isCollision`                    | Get the collision state of a chain              |
+-----------------------------------------------------------+-------------------------------------------------+
| | :cpp:func:`ALMotionProxy::setFallManagerEnabled`        | Manage the fall manager relfex                  |
| | :cpp:func:`ALMotionProxy::getFallManagerEnabled`        |                                                 |
+-----------------------------------------------------------+-------------------------------------------------+
| | :cpp:func:`ALMotionProxy::setSmartStiffnessEnabled`     | Manage the smart stiffness relfex               |
| | :cpp:func:`ALMotionProxy::setFootStepsWithSpeed`        |                                                 |
+-----------------------------------------------------------+-------------------------------------------------+


Overloaded methods
------------------

These overloadings allow you to give more parameters to walk methods, such as
footsteps Gait configuration.

+-----------------------------------------------------------------------------------------+------------------------------------------------------------------+
| Method                                                                                  | Overloadings                                                     |
+=========================================================================================+==================================================================+
| :ref:`ALMotionProxy::setWalkTargetVelocity <ALMotionProxy::setWalkTargetVelocity2>`     | Adding the feet gait config to the walk target velocity control  |
+-----------------------------------------------------------------------------------------+------------------------------------------------------------------+
| :ref:`ALMotionProxy::setWalkTargetVelocity <ALMotionProxy::setWalkTargetVelocity3>`     | Adding separate foot gait config to walk target velocity control |
+-----------------------------------------------------------------------------------------+------------------------------------------------------------------+
| :ref:`ALMotionProxy::walkTo <ALMotionProxy::walkTo2>`                                   | Adding the feet gait config to the walk                          |
+-----------------------------------------------------------------------------------------+------------------------------------------------------------------+
| :ref:`ALMotionProxy::walkTo <ALMotionProxy::walkTo3>`                                   | Giving consecutive control points to the walk                    |
+-----------------------------------------------------------------------------------------+------------------------------------------------------------------+
| :ref:`ALMotionProxy::walkTo <ALMotionProxy::walkTo4>`                                   | Giving consecutive control points to the walk with feet gait     |
|                                                                                         | config                                                           |
+-----------------------------------------------------------------------------------------+------------------------------------------------------------------+

Deprecated methods
------------------

These methods are deprecated: their replacement methods should be used instead.

+---------------------------------------------------+-----------------------------------------------------+
| Method                                            | Replacement                                         |
+===================================================+=====================================================+
| :cpp:func:`ALMotionProxy::getWalkArmsEnable`      | :cpp:func:`ALMotionProxy::getWalkArmsEnabled`       |
+---------------------------------------------------+-----------------------------------------------------+
| :cpp:func:`ALMotionProxy::setWalkArmsEnable`      | :cpp:func:`ALMotionProxy::setWalkArmsEnabled`       |
+---------------------------------------------------+-----------------------------------------------------+
| :cpp:func:`ALMotionProxy::stepTo`                 | :cpp:func:`ALMotionProxy::setFootStepsWithSpeed` or |
|                                                   | :cpp:func:`ALMotionProxy::setFootSteps`             |
+---------------------------------------------------+-----------------------------------------------------+